How to attach the rigged wheels to the car body and make them move left and right?
Make an empty at the end of Bone.002 and make it the child of Bone. Put Inverse Kinematics constraint on Bone.002 and choose the Empty as a target.
https://drive.google.com/open?id=1xxB8mxmHnnE0CvzsjuIFUC7xsNWNQ-v2